[SPARK-3029] Disable local execution of Spark jobs by default

Currently, local execution of Spark jobs is only used by take(), and it can be problematic as it can load a significant amount of data onto the driver. The worst case scenarios occur if the RDD is cached (guaranteed to load whole partition), has very large elements, or the partition is just large and we apply a filter with high selectivity or computational overhead.

Additionally, jobs that run locally in this manner do not show up in the web UI, and are thus harder to track or understand what is occurring.

This PR adds a flag to disable local execution, which is turned OFF by default, with the intention of perhaps eventually removing this functionality altogether. Removing it now is a tougher proposition since it is part of the public runJob API. An alternative solution would be to limit the flag to take()/first() to avoid impacting any external users of this API, but such usage (or, at least, reliance upon the feature) is hopefully minimal.

Author: Aaron Davidson <aaron@databricks.com>

Closes #1321 from aarondav/allowlocal and squashes the following commits:

136b253 [Aaron Davidson] Fix DAGSchedulerSuite
5599d55 [Aaron Davidson] [RFC] Disable local execution of Spark jobs by default
SPARK-2893: Do not swallow Exceptions when running a custom kryo registrator

The previous behaviour of swallowing ClassNotFound exceptions when running a custom Kryo registrator could lead to difficult to debug problems later on at serialisation / deserialisation time, see SPARK-2878.  Instead it is better to fail fast.

Added test case.

Author: Graham Dennis <graham.dennis@gmail.com>

Closes #1827 from GrahamDennis/feature/spark-2893 and squashes the following commits:

fbe4cb6 [Graham Dennis] [SPARK-2878]: Update the test case to match the updated exception message
65e53c5 [Graham Dennis] [SPARK-2893]: Improve message when a spark.kryo.registrator fails.
f480d85 [Graham Dennis] [SPARK-2893] Fix typo.
b59d2c2 [Graham Dennis] SPARK-2893: Do not swallow Exceptions when running a custom spark.kryo.registrator